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Note 12 - Convertible Senior Notes - Schedule of Interest Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Amortization of debt issuance costs     $ 425 $ 434
The 5% Convertible Senior Notes Due 2024 [Member]        
Contractual interest expense $ 1,006 $ 1,006 2,013 2,013
Amortization of debt issuance costs 206 206 410 410
Total interest cost $ 1,212 $ 1,212 $ 2,423 $ 2,423
Effective interest rate 5.10% 5.10% 5.10% 5.10%